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<div class="title">min_cut_segmentation.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_SEGMENTATION_MIN_CUT_SEGMENTATION_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_SEGMENTATION_MIN_CUT_SEGMENTATION_HPP_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/boost.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/min_cut_segmentation.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/search/search.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/search/kdtree.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;stdlib.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::MinCutSegmentation () :</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  inverse_sigma_ (16.0),</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  binary_potentials_are_valid_ (false),</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  epsilon_ (0.0001),</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  radius_ (16.0),</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  unary_potentials_are_valid_ (false),</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  source_weight_ (0.8),</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  search_ (),</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  number_of_neighbours_ (14),</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  graph_is_valid_ (false),</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  foreground_points_ (0),</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  background_points_ (0),</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  clusters_ (0),</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  graph_ (),</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  capacity_ (),</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  reverse_edges_ (),</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  vertices_ (0),</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  edge_marker_ (0),</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  source_ (),</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  sink_ (),</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  max_flow_ (0.0)</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;{</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;}</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::~MinCutSegmentation ()</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;{</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordflow">if</span> (search_ != 0)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    search_.reset ();</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keywordflow">if</span> (graph_ != 0)</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    graph_.reset ();</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keywordflow">if</span> (capacity_ != 0)</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    capacity_.reset ();</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordflow">if</span> (reverse_edges_ != 0)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    reverse_edges_.reset ();</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  foreground_points_.clear ();</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  background_points_.clear ();</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  clusters_.clear ();</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  vertices_.clear ();</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  edge_marker_.clear ();</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;}</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::setInputCloud (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud)</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;{</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  input_ = cloud;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  graph_is_valid_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  unary_potentials_are_valid_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  binary_potentials_are_valid_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;}</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">double</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::getSigma ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keywordflow">return</span> (pow (1.0 / inverse_sigma_, 0.5));</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;}</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::setSigma (<span class="keywordtype">double</span> sigma)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;{</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordflow">if</span> (sigma &gt; epsilon_)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    inverse_sigma_ = 1.0 / (sigma * sigma);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    binary_potentials_are_valid_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  }</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;}</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">double</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::getRadius ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keywordflow">return</span> (pow (radius_, 0.5));</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;}</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::setRadius (<span class="keywordtype">double</span> radius)</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;{</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="keywordflow">if</span> (radius &gt; epsilon_)</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  {</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    radius_ = radius * radius;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    unary_potentials_are_valid_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;}</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">double</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::getSourceWeight ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="keywordflow">return</span> (source_weight_);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;}</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::setSourceWeight (<span class="keywordtype">double</span> weight)</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;{</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="keywordflow">if</span> (weight &gt; epsilon_)</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  {</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    source_weight_ = weight;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    unary_potentials_are_valid_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;}</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">typename</span> pcl::MinCutSegmentation&lt;PointT&gt;::KdTreePtr</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::getSearchMethod ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <span class="keywordflow">return</span> (search_);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;}</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::setSearchMethod (<span class="keyword">const</span> KdTreePtr&amp; tree)</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;{</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <span class="keywordflow">if</span> (search_ != 0)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    search_.reset ();</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  search_ = tree;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;}</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::getNumberOfNeighbours ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="keywordflow">return</span> (number_of_neighbours_);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;}</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::setNumberOfNeighbours (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> neighbour_number)</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;{</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="keywordflow">if</span> (number_of_neighbours_ != neighbour_number &amp;&amp; neighbour_number != 0)</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  {</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    number_of_neighbours_ = neighbour_number;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    graph_is_valid_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    unary_potentials_are_valid_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    binary_potentials_are_valid_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  }</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;}</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; std::vector&lt;PointT, Eigen::aligned_allocator&lt;PointT&gt; &gt;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::getForegroundPoints ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <span class="keywordflow">return</span> (foreground_points_);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;}</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::setForegroundPoints (<span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr foreground_points)</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;{</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  foreground_points_.clear ();</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  foreground_points_.reserve (foreground_points-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i_point = 0; i_point &lt; foreground_points-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i_point++)</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    foreground_points_.push_back (foreground_points-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i_point]);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  unary_potentials_are_valid_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;}</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; std::vector&lt;PointT, Eigen::aligned_allocator&lt;PointT&gt; &gt;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::getBackgroundPoints ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  <span class="keywordflow">return</span> (background_points_);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;}</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::setBackgroundPoints (<span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr background_points)</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;{</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  background_points_.clear ();</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  background_points_.reserve (background_points-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i_point = 0; i_point &lt; background_points-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i_point++)</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    background_points_.push_back (background_points-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i_point]);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  unary_potentials_are_valid_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;}</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::extract (std::vector &lt;pcl::PointIndices&gt;&amp; clusters)</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;{</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  clusters.clear ();</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  <span class="keywordtype">bool</span> segmentation_is_possible = initCompute ();</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <span class="keywordflow">if</span> ( !segmentation_is_possible )</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  {</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    deinitCompute ();</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  }</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  <span class="keywordflow">if</span> ( graph_is_valid_ &amp;&amp; unary_potentials_are_valid_ &amp;&amp; binary_potentials_are_valid_ )</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  {</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    clusters.reserve (clusters_.size ());</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    std::copy (clusters_.begin (), clusters_.end (), std::back_inserter (clusters));</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    deinitCompute ();</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  }</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  clusters_.clear ();</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  <span class="keywordtype">bool</span> success = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  <span class="keywordflow">if</span> ( !graph_is_valid_ )</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  {</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    success = buildGraph ();</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    <span class="keywordflow">if</span> (success == <span class="keyword">false</span>)</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    {</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      deinitCompute ();</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    }</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    graph_is_valid_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    unary_potentials_are_valid_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    binary_potentials_are_valid_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  }</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  <span class="keywordflow">if</span> ( !unary_potentials_are_valid_ )</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  {</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    success = recalculateUnaryPotentials ();</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    <span class="keywordflow">if</span> (success == <span class="keyword">false</span>)</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    {</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      deinitCompute ();</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    }</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    unary_potentials_are_valid_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  }</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <span class="keywordflow">if</span> ( !binary_potentials_are_valid_ )</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  {</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    success = recalculateBinaryPotentials ();</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    <span class="keywordflow">if</span> (success == <span class="keyword">false</span>)</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    {</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      deinitCompute ();</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    }</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    binary_potentials_are_valid_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  }</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  <span class="comment">//IndexMap index_map = boost::get (boost::vertex_index, *graph_);</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  ResidualCapacityMap residual_capacity = boost::get (boost::edge_residual_capacity, *graph_);</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  max_flow_ = boost::boykov_kolmogorov_max_flow (*graph_, source_, sink_);</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  assembleLabels (residual_capacity);</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  clusters.reserve (clusters_.size ());</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  std::copy (clusters_.begin (), clusters_.end (), std::back_inserter (clusters));</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  deinitCompute ();</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;}</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">double</span></div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::getMaxFlow ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  <span class="keywordflow">return</span> (max_flow_);</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;}</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">typename</span> boost::shared_ptr&lt;typename pcl::MinCutSegmentation&lt;PointT&gt;::mGraph&gt;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::getGraph ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  <span class="keywordflow">return</span> (graph_);</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;}</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::buildGraph ()</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;{</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  <span class="keywordtype">int</span> number_of_points = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (input_-&gt;points.size ());</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  <span class="keywordtype">int</span> number_of_indices = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  <span class="keywordflow">if</span> (input_-&gt;points.size () == 0 || number_of_points == 0 || foreground_points_.empty () == true )</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  <span class="keywordflow">if</span> (search_ == 0)</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    search_ = boost::shared_ptr&lt;pcl::search::Search&lt;PointT&gt; &gt; (<span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointT&gt;</a>);</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  graph_.reset ();</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;  graph_ = boost::shared_ptr&lt; mGraph &gt; (<span class="keyword">new</span> mGraph ());</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160; </div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;  capacity_.reset ();</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  capacity_ = boost::shared_ptr&lt;CapacityMap&gt; (<span class="keyword">new</span> CapacityMap ());</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  *capacity_ = boost::get (boost::edge_capacity, *graph_);</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160; </div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;  reverse_edges_.reset ();</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  reverse_edges_ = boost::shared_ptr&lt;ReverseEdgeMap&gt; (<span class="keyword">new</span> ReverseEdgeMap ());</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;  *reverse_edges_ = boost::get (boost::edge_reverse, *graph_);</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160; </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  VertexDescriptor vertex_descriptor(0);</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;  vertices_.clear ();</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;  vertices_.resize (number_of_points + 2, vertex_descriptor);</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160; </div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;  std::set&lt;int&gt; out_edges_marker;</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;  edge_marker_.clear ();</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  edge_marker_.resize (number_of_points + 2, out_edges_marker);</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_point = 0; i_point &lt; number_of_points + 2; i_point++)</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;    vertices_[i_point] = boost::add_vertex (*graph_);</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  source_ = vertices_[number_of_points];</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  sink_ = vertices_[number_of_points + 1];</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160; </div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_point = 0; i_point &lt; number_of_indices; i_point++)</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  {</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    <span class="keywordtype">int</span> point_index = (*indices_)[i_point];</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    <span class="keywordtype">double</span> source_weight = 0.0;</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    <span class="keywordtype">double</span> sink_weight = 0.0;</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    calculateUnaryPotential (point_index, source_weight, sink_weight);</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    addEdge (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (source_), point_index, source_weight);</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    addEdge (point_index, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (sink_), sink_weight);</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;  }</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160; </div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  std::vector&lt;int&gt; neighbours;</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;  std::vector&lt;float&gt; distances;</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  search_-&gt;setInputCloud (input_, indices_);</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_point = 0; i_point &lt; number_of_indices; i_point++)</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  {</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    <span class="keywordtype">int</span> point_index = (*indices_)[i_point];</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    search_-&gt;nearestKSearch (i_point, number_of_neighbours_, neighbours, distances);</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i_nghbr = 1; i_nghbr &lt; neighbours.size (); i_nghbr++)</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;    {</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      <span class="keywordtype">double</span> weight = calculateBinaryPotential (point_index, neighbours[i_nghbr]);</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;      addEdge (point_index, neighbours[i_nghbr], weight);</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;      addEdge (neighbours[i_nghbr], point_index, weight);</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;    }</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    neighbours.clear ();</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    distances.clear ();</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  }</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160; </div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;}</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160; </div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::calculateUnaryPotential (<span class="keywordtype">int</span> point, <span class="keywordtype">double</span>&amp; source_weight, <span class="keywordtype">double</span>&amp; sink_weight)<span class="keyword"> const</span></div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  <span class="keywordtype">double</span> min_dist_to_foreground = std::numeric_limits&lt;double&gt;::max ();</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  <span class="comment">//double min_dist_to_background = std::numeric_limits&lt;double&gt;::max ();</span></div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;  <span class="keywordtype">double</span> closest_foreground_point[2];</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;  closest_foreground_point[0] = closest_foreground_point[1] = 0;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;  <span class="comment">//double closest_background_point[] = {0.0, 0.0};</span></div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;  <span class="keywordtype">double</span> initial_point[] = {0.0, 0.0};</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160; </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;  initial_point[0] = input_-&gt;points[point].x;</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;  initial_point[1] = input_-&gt;points[point].y;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160; </div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i_point = 0; i_point &lt; foreground_points_.size (); i_point++)</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;  {</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;    <span class="keywordtype">double</span> dist = 0.0;</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    dist += (foreground_points_[i_point].x - initial_point[0]) * (foreground_points_[i_point].x - initial_point[0]);</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    dist += (foreground_points_[i_point].y - initial_point[1]) * (foreground_points_[i_point].y - initial_point[1]);</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;    <span class="keywordflow">if</span> (min_dist_to_foreground &gt; dist)</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    {</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;      min_dist_to_foreground = dist;</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;      closest_foreground_point[0] = foreground_points_[i_point].x;</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;      closest_foreground_point[1] = foreground_points_[i_point].y;</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;    }</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;  }</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160; </div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;  sink_weight = pow (min_dist_to_foreground / radius_, 0.5);</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160; </div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;  source_weight = source_weight_;</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;<span class="comment">  if (background_points_.size () == 0)</span></div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;<span class="comment">    return;</span></div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;<span class="comment">  for (int i_point = 0; i_point &lt; background_points_.size (); i_point++)</span></div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;<span class="comment">  {</span></div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;<span class="comment">    double dist = 0.0;</span></div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;<span class="comment">    dist += (background_points_[i_point].x - initial_point[0]) * (background_points_[i_point].x - initial_point[0]);</span></div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;<span class="comment">    dist += (background_points_[i_point].y - initial_point[1]) * (background_points_[i_point].y - initial_point[1]);</span></div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;<span class="comment">    if (min_dist_to_background &gt; dist)</span></div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;<span class="comment">    {</span></div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;<span class="comment">      min_dist_to_background = dist;</span></div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;<span class="comment">      closest_background_point[0] = background_points_[i_point].x;</span></div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;<span class="comment">      closest_background_point[1] = background_points_[i_point].y;</span></div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;<span class="comment">    }</span></div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;<span class="comment">  }</span></div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;<span class="comment">  if (min_dist_to_background &lt;= epsilon_)</span></div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;<span class="comment">  {</span></div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;<span class="comment">    source_weight = 0.0;</span></div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;<span class="comment">    sink_weight = 1.0;</span></div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;<span class="comment">    return;</span></div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;<span class="comment">  }</span></div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;<span class="comment">  source_weight = 1.0 / (1.0 + pow (min_dist_to_background / min_dist_to_foreground, 0.5));</span></div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;<span class="comment">  sink_weight = 1 - source_weight;</span></div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;}</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160; </div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::addEdge (<span class="keywordtype">int</span> source, <span class="keywordtype">int</span> target, <span class="keywordtype">double</span> weight)</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;{</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;  std::set&lt;int&gt;::iterator iter_out = edge_marker_[source].find (target);</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;  <span class="keywordflow">if</span> ( iter_out != edge_marker_[source].end () )</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160; </div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;  EdgeDescriptor edge;</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;  EdgeDescriptor reverse_edge;</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;  <span class="keywordtype">bool</span> edge_was_added, reverse_edge_was_added;</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160; </div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;  boost::tie (edge, edge_was_added) = boost::add_edge ( vertices_[source], vertices_[target], *graph_ );</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;  boost::tie (reverse_edge, reverse_edge_was_added) = boost::add_edge ( vertices_[target], vertices_[source], *graph_ );</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;  <span class="keywordflow">if</span> ( !edge_was_added || !reverse_edge_was_added )</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160; </div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;  (*capacity_)[edge] = weight;</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;  (*capacity_)[reverse_edge] = 0.0;</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;  (*reverse_edges_)[edge] = reverse_edge;</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;  (*reverse_edges_)[reverse_edge] = edge;</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;  edge_marker_[source].insert (target);</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160; </div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;}</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160; </div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">double</span></div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::calculateBinaryPotential (<span class="keywordtype">int</span> source, <span class="keywordtype">int</span> target)<span class="keyword"> const</span></div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;  <span class="keywordtype">double</span> weight = 0.0;</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;  <span class="keywordtype">double</span> <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> = 0.0;</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;  <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> += (input_-&gt;points[source].x - input_-&gt;points[target].x) * (input_-&gt;points[source].x - input_-&gt;points[target].x);</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;  <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> += (input_-&gt;points[source].y - input_-&gt;points[target].y) * (input_-&gt;points[source].y - input_-&gt;points[target].y);</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;  <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> += (input_-&gt;points[source].z - input_-&gt;points[target].z) * (input_-&gt;points[source].z - input_-&gt;points[target].z);</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;  <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> *= inverse_sigma_;</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;  weight = exp (-distance);</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160; </div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;  <span class="keywordflow">return</span> (weight);</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;}</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160; </div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::recalculateUnaryPotentials ()</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;{</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;  OutEdgeIterator src_edge_iter;</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;  OutEdgeIterator src_edge_end;</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;  std::pair&lt;EdgeDescriptor, bool&gt; sink_edge;</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160; </div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;  <span class="keywordflow">for</span> (boost::tie (src_edge_iter, src_edge_end) = boost::out_edges (source_, *graph_); src_edge_iter != src_edge_end; src_edge_iter++)</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;  {</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;    <span class="keywordtype">double</span> source_weight = 0.0;</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;    <span class="keywordtype">double</span> sink_weight = 0.0;</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;    sink_edge.second = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;    calculateUnaryPotential (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (boost::target (*src_edge_iter, *graph_)), source_weight, sink_weight);</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;    sink_edge = boost::lookup_edge (boost::target (*src_edge_iter, *graph_), sink_, *graph_);</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;    <span class="keywordflow">if</span> (!sink_edge.second)</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160; </div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;    (*capacity_)[*src_edge_iter] = source_weight;</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;    (*capacity_)[sink_edge.first] = sink_weight;</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;  }</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160; </div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;}</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160; </div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::recalculateBinaryPotentials ()</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;{</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;  <span class="keywordtype">int</span> number_of_points = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160; </div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;  VertexIterator vertex_iter;</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;  VertexIterator vertex_end;</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;  OutEdgeIterator edge_iter;</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;  OutEdgeIterator edge_end;</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160; </div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;  std::vector&lt; std::set&lt;VertexDescriptor&gt; &gt; edge_marker;</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;  std::set&lt;VertexDescriptor&gt; out_edges_marker;</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;  edge_marker.clear ();</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;  edge_marker.resize (number_of_points + 2, out_edges_marker);</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160; </div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;  <span class="keywordflow">for</span> (boost::tie (vertex_iter, vertex_end) = boost::vertices (*graph_); vertex_iter != vertex_end; vertex_iter++)</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;  {</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;    VertexDescriptor source_vertex = *vertex_iter;</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;    <span class="keywordflow">if</span> (source_vertex == source_ || source_vertex == sink_)</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;    <span class="keywordflow">for</span> (boost::tie (edge_iter, edge_end) = boost::out_edges (source_vertex, *graph_); edge_iter != edge_end; edge_iter++)</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;    {</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;      <span class="comment">//If this is not the edge of the graph, but the reverse fictitious edge that is needed for the algorithm then continue</span></div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;      EdgeDescriptor reverse_edge = (*reverse_edges_)[*edge_iter];</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;      <span class="keywordflow">if</span> ((*capacity_)[reverse_edge] != 0.0)</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160; </div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;      <span class="comment">//If we already changed weight for this edge then continue</span></div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;      VertexDescriptor target_vertex = boost::target (*edge_iter, *graph_);</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;      std::set&lt;VertexDescriptor&gt;::iterator iter_out = edge_marker[<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (source_vertex)].find (target_vertex);</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;      <span class="keywordflow">if</span> ( iter_out != edge_marker[<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (source_vertex)].end () )</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160; </div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;      <span class="keywordflow">if</span> (target_vertex != source_ &amp;&amp; target_vertex != sink_)</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;      {</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;        <span class="comment">//Change weight and remember that this edges were updated</span></div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;        <span class="keywordtype">double</span> weight = calculateBinaryPotential (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (target_vertex), <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (source_vertex));</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;        (*capacity_)[*edge_iter] = weight;</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;        edge_marker[<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (source_vertex)].insert (target_vertex);</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;      }</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;    }</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;  }</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160; </div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;}</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160; </div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::assembleLabels (ResidualCapacityMap&amp; residual_capacity)</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;{</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;  std::vector&lt;int&gt; labels;</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;  labels.resize (input_-&gt;points.size (), 0);</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;  <span class="keywordtype">int</span> number_of_indices = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_point = 0; i_point &lt; number_of_indices; i_point++)</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;    labels[(*indices_)[i_point]] = 1;</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160; </div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;  clusters_.clear ();</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160; </div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;  <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> segment;</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;  clusters_.resize (2, segment);</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160; </div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;  OutEdgeIterator edge_iter, edge_end;</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;  <span class="keywordflow">for</span> ( boost::tie (edge_iter, edge_end) = boost::out_edges (source_, *graph_); edge_iter != edge_end; edge_iter++ )</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;  {</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;    <span class="keywordflow">if</span> (labels[edge_iter-&gt;m_target] == 1)</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;    {</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;      <span class="keywordflow">if</span> (residual_capacity[*edge_iter] &gt; epsilon_)</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;        clusters_[1].indices.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (edge_iter-&gt;m_target));</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;        clusters_[0].indices.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (edge_iter-&gt;m_target));</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;    }</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;  }</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;}</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160; </div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; pcl::PointCloud&lt;pcl::PointXYZRGB&gt;::Ptr</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;pcl::MinCutSegmentation&lt;PointT&gt;::getColoredCloud ()</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;{</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZRGB&gt;::Ptr colored_cloud;</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160; </div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;  <span class="keywordflow">if</span> (!clusters_.empty ())</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;  {</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;    <span class="keywordtype">int</span> num_of_pts_in_first_cluster = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (clusters_[0].indices.size ());</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;    <span class="keywordtype">int</span> num_of_pts_in_second_cluster = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (clusters_[1].indices.size ());</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;    <span class="keywordtype">int</span> number_of_points = num_of_pts_in_first_cluster + num_of_pts_in_second_cluster;</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;    colored_cloud = (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZRGB&gt;</a>)-&gt;makeShared ();</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> foreground_color[3] = {255, 255, 255};</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> background_color[3] = {255, 0, 0};</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;    colored_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = number_of_points;</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;    colored_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;    colored_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = input_-&gt;is_dense;</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160; </div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">pcl::PointXYZRGB</a> point;</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;    <span class="keywordtype">int</span> point_index = 0;</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_point = 0; i_point &lt; num_of_pts_in_first_cluster; i_point++)</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;    {</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;      point_index = clusters_[0].indices[i_point];</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;      point.x = *(input_-&gt;points[point_index].data);</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;      point.y = *(input_-&gt;points[point_index].data + 1);</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;      point.z = *(input_-&gt;points[point_index].data + 2);</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;      point.r = background_color[0];</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;      point.g = background_color[1];</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;      point.b = background_color[2];</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;      colored_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (point);</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;    }</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160; </div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i_point = 0; i_point &lt; num_of_pts_in_second_cluster; i_point++)</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;    {</div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;      point_index = clusters_[1].indices[i_point];</div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;      point.x = *(input_-&gt;points[point_index].data);</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;      point.y = *(input_-&gt;points[point_index].data + 1);</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;      point.z = *(input_-&gt;points[point_index].data + 2);</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;      point.r = foreground_color[0];</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;      point.g = foreground_color[1];</div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;      point.b = foreground_color[2];</div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;      colored_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (point);</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;    }</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;  }</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160; </div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;  <span class="keywordflow">return</span> (colored_cloud);</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;}</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160; </div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_MinCutSegmentation(T) template class pcl::MinCutSegmentation&lt;T&gt;;</span></div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160; </div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_SEGMENTATION_MIN_CUT_SEGMENTATION_HPP_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::PointXYZRGB &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a></div><div class="ttdoc">search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...</div><div class="ttdef"><b>Definition:</b> kdtree.h:63</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2geometry_8h_html_a2fc89f0c26b7c7377fcd2851fa933b87"><div class="ttname"><a href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">pcl::geometry::distance</a></div><div class="ttdeci">float distance(const PointT &amp;p1, const PointT &amp;p2)</div><div class="ttdef"><b>Definition:</b> geometry.h:60</div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b.html">pcl::PointXYZRGB</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGB color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:607</div></div>
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